Periodic Event-Triggered Optimal Output Consensus of Heterogeneous Multiagent Systems Subject to Communication Delays

This article investigates periodic event-triggered optimal output consensus of heterogeneous linear multiagent systems where each agent has knowledge of only its own cost function. In contrast to existing results, we consider communication delays and general strongly connected digraphs. A novel periodic event-triggered distributed control scheme is proposed, which allows asynchronous event detection and time-varying communication delays. Sufficient conditions with respect to the maximum allowable communication delays and event detection periods to achieve asymptotic optimal output consensus are established. Moreover, it is proved that the proposed periodic event-triggering mechanism can provide a positive lower bound of interevent times which is independent of the event detection period. A simulation example is provided to illustrate the effectiveness of the proposed control scheme.